Robot Arm Joint Layout for Lower Inertia and Precise Positioning
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robot arms with epicyclic gear type reducers are heavy, leading to high inertial weight and the need for large electric currents to achieve agile motion, which results in high power consumption.
Innovation Solution
The robot arm design incorporates a first reducer of an epicyclic gear type at the base and lighter power transmission mechanisms at the farther joints, reducing the moment of inertia and enabling both low power consumption and agile motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If an epicyclic gear type reducer is used in the robot arm, then positioning precision is improved, but the weight of the robot arm increases
Solution Approach 1:
The robot arm is divided into multiple sections, with the heavy epicyclic gear type reducer installed only in the base section rather than in all joints. This segmentation allows the distal end of the robot arm to have lighter weight while the base provides precise positioning through the reducer.
Solution Approach 2:
The epicyclic gear type reducer is extracted from all joints and concentrated only in the base of the robot arm. This extraction eliminates the weight of reducers from distal joints while preserving the positioning precision function where it is most needed.
2Measurement precision
If an epicyclic gear type reducer is disposed at the distal end of the robot arm, then positioning precision is improved, but the inertial weight at the distal end increases
Solution Approach 1:
The robot arm is segmented into base and distal end portions, with the heavy reducer located only in the base. This segmentation ensures that the distal end maintains low inertial weight for agile motion while the base provides precise positioning control.
3Speed
If large amounts of electric currents are supplied to the motors to move the robot arm agilely, then the agility of the robot arm is improved, but the power consumption increases
Solution Approach 1:
The robot arm is divided into base and distal end sections with different weight characteristics. The lighter distal end requires less current for agile motion, reducing overall power consumption while maintaining robot arm agility through the lightweight configuration.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This configuration allows for efficient torque transmission while minimizing power consumption and enhancing the agility of the robot arm, facilitating precise positioning and reduced vibrations.
Implementation Method 1
The power transmission mechanism in the joint which is positioned on a farther side of the first reducer is lighter in weight than the first reducer
Data Source
AI summary
A robot includes: a base; and a robot arm coupled to the base. The robot arm includes a plurality of arms having respective joints each of which has a power transmission mechanism. The power transmission mechanisms in the joints have a first reducer of an epicyclic gear type. The power transmission mechanism in one of the joints which is positioned on a farther side of the first reducer is lighter in weight than the first reducer.